Journal ArticleDOI
A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance
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This article is published in Journal of Mechanical Design.The article was published on 1992-12-01. It has received 54 citations till now. The article focuses on the topics: Degrees of freedom & Obstacle avoidance.read more
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Journal ArticleDOI
Modular Reconfigurable Robots in Space Applications
TL;DR: PolyBot has significant potential in the space manipulation and surface mobility class of applications for space and can self-repair and adapt to changing or unanticipated conditions.
Inverse kinematics techniques of the interactive posture control of articulated figures
TL;DR: This thesis introduces a priority strategy for conflict resolution based on a task-priority algorithm developed in robotics for simple manipulators, and introduces a framework that integrates the two conflict resolution strategies: first, the priorities assigned to the tasks are considered and, second, a weighting strategy solves the conflicts between tasks having same priority.
Proceedings ArticleDOI
Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths.
TL;DR: A feedback controller that steers a needle along 3D helical paths, and varies the helix radius to correct for perturbations achieves high accuracy for targets sufficiently far from the needle insertion point; this is counterintuitive because the system is highly under-actuated and not locally controllable.
Proceedings ArticleDOI
The inverse kinematics of hyper-redundant manipulators using splines
K.E. Zanganeh,Jorge Angeles +1 more
TL;DR: The proposed solution method is general and applicable to non-extensible as well as extensible planar or spatial hyper-redundant manipulators with different morphologies.
Journal ArticleDOI
A fault-tolerant control algorithm having a decentralized autonomous architecture for space hyper-redundant manipulators
TL;DR: A decentralized autonomous control algorithm for hyper-redundant manipulators that uses parallel processing with low-performance processors to achieve adaptation to partial failure and is compared with behavior-based control architecture.